TY - GEN
T1 - Collision position sensing for manipulator using force/torque sensor
AU - Leng, Yuquan
AU - Chen, Zhengcang
AU - Zhang, Wei
AU - Zhang, Yang
AU - He, Xu
AU - Luo, Haitao
AU - Zhou, Weijia
N1 - Publisher Copyright:
© 2015 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2015/9/11
Y1 - 2015/9/11
N2 - Force sensing including collision position, force direction and force size makes robots smoothly interact with environment to strongly adapt to outside world. Skin sensing imitates principle of human skin using special material and physical structure with disadvantages of complex design, low sampling rate, and poor generality and so on. In this paper, the method of using fore/torque sensor to calculate collision position, force direction and force size is provided. We detail elaborate algorithm based on physical principle, and unified modeling method for basic geometric surface. Considering algorithm solvability and uniqueness, three constraints are proposed, which are joint constraint, contour constraint and force direction constraint. In order to solve conflict solution of algorithm in redundant constraints, we propose compatibility and method. In addition, gravity compensation and dynamic compensation are also described for working manipulator in gravity and dynamic environment. As a result of our simulation experiment, we would find that this method is effective for manipulator to measure collision position.
AB - Force sensing including collision position, force direction and force size makes robots smoothly interact with environment to strongly adapt to outside world. Skin sensing imitates principle of human skin using special material and physical structure with disadvantages of complex design, low sampling rate, and poor generality and so on. In this paper, the method of using fore/torque sensor to calculate collision position, force direction and force size is provided. We detail elaborate algorithm based on physical principle, and unified modeling method for basic geometric surface. Considering algorithm solvability and uniqueness, three constraints are proposed, which are joint constraint, contour constraint and force direction constraint. In order to solve conflict solution of algorithm in redundant constraints, we propose compatibility and method. In addition, gravity compensation and dynamic compensation are also described for working manipulator in gravity and dynamic environment. As a result of our simulation experiment, we would find that this method is effective for manipulator to measure collision position.
KW - Collision Position
KW - Force/Torque Sensor
KW - Manipulator
KW - Skin Sensor
UR - https://www.scopus.com/pages/publications/84946615710
U2 - 10.1109/ChiCC.2015.7260547
DO - 10.1109/ChiCC.2015.7260547
M3 - 会议稿件
AN - SCOPUS:84946615710
T3 - Chinese Control Conference, CCC
SP - 5809
EP - 5814
BT - Proceedings of the 34th Chinese Control Conference, CCC 2015
A2 - Zhao, Qianchuan
A2 - Liu, Shirong
PB - IEEE Computer Society
T2 - 34th Chinese Control Conference, CCC 2015
Y2 - 28 July 2015 through 30 July 2015
ER -